Visual servoing for robot manipulators considering sensing and dynamics limitations

Cong Wang, Chung Yen Lin, Masayoshi Tomizuka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

This paper presents a control scheme of visual servoing. Real-time vision guidance is necessary in many desirable applications of industrial manipulators. Challenge comes from the limitations of visual sensing and robot dynamics. Typical industrial machine vision systems have low sampling rate and large latency. In addition, due to the large inertia of industrial manipulators, a proper consideration of robot dynamics is important. In particular, actuator saturation may cause undesirable response. In this paper, an adaptive tracking filter is used for sensing compensation. Based on the compensated vision feedback, a two layer controller is formulated using multi-surface sliding control. System kinematics and dynamics are decoupled and handled by the two layers of the controller respectively. Further, a constrained optimal control approach is adopted to avoid actuator saturation. Validation is conducted using a SCARA robot.

Original languageEnglish (US)
Title of host publicationNonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Print)9780791856147
DOIs
StatePublished - Jan 1 2013
Externally publishedYes
EventASME 2013 Dynamic Systems and Control Conference, DSCC 2013 - Palo Alto, CA, United States
Duration: Oct 21 2013Oct 23 2013

Publication series

NameASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Volume3

Other

OtherASME 2013 Dynamic Systems and Control Conference, DSCC 2013
CountryUnited States
CityPalo Alto, CA
Period10/21/1310/23/13

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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